JP2021110630A5 - - Google Patents
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第１の態様は、車両に搭載されている検出器の姿勢・位置検出システムを提供する。第１の態様に係る姿勢・位置検出システムは、前記検出器の姿勢・位置検出に用いられるターゲットであって、前記検出器の検出方式に応じた複数のターゲット（ＴＧＣ、ＴＧＬ、ＴＧＭ）を含むターゲットと、前記車両の前記ターゲットに対する位置を相対的に変更するための変更機構と、前記車両の前記ターゲットに対する位置を、予め定められた期間、維持するように前記変更機構を制御し、前記ターゲットに対する前記検出器の検出結果を用いて、前記検出器の姿勢・位置を検出するための姿勢・位置検出装置と、を備える。 The first aspect provides a posture / position detection system for a detector mounted on a vehicle. The posture / position detection system according to the first aspect is a target used for posture / position detection of the detector, and includes a plurality of targets (TGC, TGL, TGM) according to the detection method of the detector. The change mechanism for changing the position of the target and the vehicle relative to the target, and the change mechanism for maintaining the position of the vehicle with respect to the target for a predetermined period of time are controlled, and the target is controlled. It is provided with a posture / position detecting device for detecting the posture / position of the detector by using the detection result of the detector with respect to the above.
第２の態様は、車両に搭載されている検出器の姿勢・位置検出方法を提供する。第２の態様に係る検出器の姿勢・位置検出方法は、前記車両に対する前記検出器の姿勢・位置検出に用いられるターゲットであって、前記検出器の検出方式に応じた複数のターゲット（ＴＧＣ、ＴＧＬ、ＴＧＭ）を含むターゲットの位置を相対的に変更し、前記車両に対する前記ターゲットの位置を、予め定められた期間、維持し、前記検出器の検出結果を用いて、前記検出器の姿勢・位置を検出する。 The second aspect provides a posture / position detecting method of a detector mounted on a vehicle. The method for detecting the posture / position of the detector according to the second aspect is a target used for detecting the posture / position of the detector with respect to the vehicle, and is a plurality of targets (TGC,) according to the detection method of the detector. The position of the target including TGL, TGM) is relatively changed, the position of the target with respect to the vehicle is maintained for a predetermined period, and the posture of the detector is determined by using the detection result of the detector. Detect the position.
第３の態様は、車両に搭載されている検出器の姿勢・位置検出システムを提供する。第３の態様に係る検出器の姿勢・位置検出システムは、前記検出器の姿勢・位置検出に用いられるターゲットと、前記車両に対する前記ターゲットの位置を検出するための位置決定装置と、前記位置決定装置から取得した位置情報を用いて、前記検出器の姿勢・位置を検出する姿勢・位置検出装置と、を備え、前記ターゲットは、前記車両に対する前記ターゲットの位置を検出するための第１の領域（ＡＲ１）に配置されている第１のターゲット、前記検出器の姿勢・位置を検出するための第２の領域（ＡＲ２）に配置されている第２のターゲットを含む。 A third aspect provides a posture / position detection system for a detector mounted on a vehicle. The posture / position detection system of the detector according to the third aspect includes a target used for posture / position detection of the detector, a position determination device for detecting the position of the target with respect to the vehicle, and the position determination. A posture / position detecting device for detecting the posture / position of the detector using the position information acquired from the device is provided , and the target is a first region for detecting the position of the target with respect to the vehicle. It includes a first target arranged in (AR1) and a second target arranged in a second region (AR2) for detecting the posture / position of the detector .
第４の態様は、車両に搭載されている検出器の姿勢・位置検出方法を提供する。第４の態様に係る検出器の姿勢・位置検出方法は、前記検出器の姿勢・位置検出に用いられる複数のターゲットのうち、少なくとも１つのターゲットに対する前記車両の位置を検出し、前記ターゲットは、前記車両に対する前記ターゲットの位置を検出するための第１の領域（ＡＲ１）に配置されている第１のターゲット、前記検出器の姿勢・位置を検出するための第２の領域（ＡＲ２）に配置されている第２のターゲットを含み、検出された前記位置情報を用いて、前記検出器の姿勢・位置を検出する。 A fourth aspect provides a posture / position detection method for a detector mounted on a vehicle. The posture / position detection method of the detector according to the fourth aspect detects the position of the vehicle with respect to at least one target among the plurality of targets used for the posture / position detection of the detector, and the target is a target. The first target arranged in the first region (AR1) for detecting the position of the target with respect to the vehicle, and the second target (AR2) arranged in the second region (AR2) for detecting the posture / position of the detector. The posture / position of the detector is detected by using the detected position information including the second target.
Claims (12)
前記検出器の姿勢・位置検出に用いられるターゲット（ＴＧ）であって、前記検出器の検出方式に応じた複数のターゲット（ＴＧＣ、ＴＧＬ、ＴＧＭ）を含むターゲットと、
前記車両の前記ターゲットに対する位置を相対的に変更するための変更機構（１２）と、
前記車両の前記ターゲットに対する位置を、予め定められた期間、維持するように前記変更機構を制御し、前記ターゲットに対する前記検出器の検出結果を用いて、前記検出器の姿勢・位置を検出するための姿勢・位置検出装置（１０）と、
を備える検出器の姿勢・位置検出システム。 The attitude / position detection system (100) of the detector (30) mounted on the vehicle (50).
A target (TG) used for detecting the attitude / position of the detector, and a target including a plurality of targets (TGC, TGL, TGM) according to the detection method of the detector.
A change mechanism (12) for changing the position of the vehicle relative to the target, and
To control the change mechanism so as to maintain the position of the vehicle with respect to the target for a predetermined period of time, and to detect the posture / position of the detector by using the detection result of the detector with respect to the target. Posture / position detection device (10) and
A detector posture / position detection system equipped with.
前記検出器の姿勢・位置検出に用いられるターゲット（ＴＧ）であって、検出器の複数の検出方式に対応する１つのターゲット（ＴＧＨ）を含むターゲットと、 A target (TG) used for detecting the attitude / position of the detector, and a target including one target (TGH) corresponding to a plurality of detection methods of the detector.
前記車両の前記ターゲットに対する位置を相対的に変更するための変更機構（１２）と、 A change mechanism (12) for changing the position of the vehicle relative to the target, and
前記車両の前記ターゲットに対する位置を、予め定められた期間、維持するように前記変更機構を制御し、前記ターゲットに対する前記検出器の検出結果を用いて、前記検出器の姿勢・位置を検出するための姿勢・位置検出装置（１０）と、 To control the change mechanism so as to maintain the position of the vehicle with respect to the target for a predetermined period of time, and to detect the posture / position of the detector by using the detection result of the detector with respect to the target. Posture / position detection device (10) and
を備える検出器の姿勢・位置検出システム。A detector posture / position detection system equipped with.
前記変更機構は、前記車両が載置される回転可能な載置部を備え、前記載置部を回転されることによって載置された前記車両を前記ターゲットに対して回転させる車両回転装置であり、
前記ターゲットは、前記車両回転装置の周囲に配置されている、検出器の姿勢・位置検出システム。 In the attitude / position detection system of the detector according to claim 1 or 2.
The change mechanism is a vehicle rotation device including a rotatable mounting portion on which the vehicle is mounted, and rotating the vehicle mounted by rotating the above-mentioned mounting portion with respect to the target. ,
The target is a posture / position detection system for a detector, which is arranged around the vehicle rotating device.
前記変更機構は、前記車両の周囲に前記ターゲットを備え、前記車両に対して前記ターゲットを回転させるターゲット回転装置である、検出器の姿勢・位置検出システム。 In the attitude / position detection system of the detector according to claim 1 or 2.
The change mechanism is a posture / position detection system for a detector, which is a target rotation device having the target around the vehicle and rotating the target with respect to the vehicle.
前記車両には、基準となる基準検出器（３０ｓ）を含む、複数の検出器が載置されており、
前記ターゲットは、第１の領域（ＡＲ１）に配置されている、前記車両に対する前記基準検出器の姿勢・位置を検出するための第１のターゲット、前記第１の領域とは異なる第２の領域（ＡＲ２）に配置されている、前記基準検出器の検出結果を用いて他の前記検出器の姿勢・位置を検出するための第２のターゲット、第３の領域（ＡＲ３）に配置されている、検出された前記複数の検出器の姿勢・位置を評価するための第３のターゲットを含む、検出器の姿勢・位置検出システム。 In the attitude / position detection system of the detector according to any one of claims 1 to 4.
A plurality of detectors including a reference detector (30s) as a reference are mounted on the vehicle.
The target is a first target arranged in the first region (AR1) for detecting the posture / position of the reference detector with respect to the vehicle, and a second region different from the first region. It is arranged in the third region (AR3), which is a second target for detecting the posture / position of another detector using the detection result of the reference detector, which is arranged in (AR2). , A detector attitude / position detection system comprising a third target for evaluating the detected attitude / position of the plurality of detectors.
前記車両に対する前記ターゲットの位置を検出するための位置決定装置（６０）を備え、
前記姿勢・位置検出装置は、前記位置決定装置から取得した位置情報を用いて、前記検出器の姿勢・位置を検出する、検出器の姿勢・位置検出システム。 The attitude / position detection system for the detector according to any one of claims 1 to 5 further comprises.
A position-fixing device (60) for detecting the position of the target with respect to the vehicle is provided.
The posture / position detecting device is a posture / position detecting system of a detector that detects the posture / position of the detector by using the position information acquired from the position determining device.
前記姿勢・位置検出装置はさらに、検出された前記検出器の姿勢・位置を用いて前記検出器を較正する、検出器の姿勢・位置検出システム。 In the attitude / position detection system of the detector according to any one of claims 1 to 6.
The posture / position detection device is a posture / position detection system for a detector that calibrates the detector using the detected posture / position of the detector.
前記姿勢・位置検出装置は、前記車両に備えられている、検出器の姿勢・位置検出システム。 In the attitude / position detection system of the detector according to any one of claims 1 to 7.
The posture / position detecting device is a posture / position detecting system of a detector provided in the vehicle.
前記車両に対する前記検出器の姿勢・位置検出に用いられるターゲット（ＴＧ）であって、前記検出器の検出方式に応じた複数のターゲット（ＴＧＣ、ＴＧＬ、ＴＧＭ）を含むターゲットの位置を相対的に変更し、
前記車両に対する前記ターゲットの位置を、予め定められた期間、維持し、
前記検出器の検出結果を用いて、前記検出器の姿勢・位置を検出する、検出器の姿勢・位置検出方法。 It is a posture / position detection method of the detector (30) mounted on the vehicle (50).
A target (TG) used for detecting the posture / position of the detector with respect to the vehicle, and the position of the target including a plurality of targets (TGC, TGL, TGM) according to the detection method of the detector is relatively. change,
Maintaining the target's position with respect to the vehicle for a predetermined period of time,
A method for detecting the posture / position of a detector, which detects the posture / position of the detector using the detection result of the detector.
前記検出器の姿勢・位置検出に用いられるターゲット（ＴＧ）と、
前記車両に対する前記ターゲットの位置を検出するための位置決定装置（６０）と、
前記位置決定装置から取得した位置情報を用いて、前記検出器の姿勢・位置を検出する姿勢・位置検出装置（１０）と、を備え、
前記ターゲットは、前記車両に対する前記ターゲットの位置を検出するための第１の領域（ＡＲ１）に配置されている第１のターゲット、前記検出器の姿勢・位置を検出するための第２の領域（ＡＲ２）に配置されている第２のターゲットを含む、検出器の姿勢・位置検出システム。 The attitude / position detection system (100) of the detector (30) mounted on the vehicle (50).
The target (TG) used to detect the attitude and position of the detector, and
A position-fixing device (60) for detecting the position of the target with respect to the vehicle, and
A posture / position detecting device (10) for detecting the posture / position of the detector by using the position information acquired from the position determining device is provided .
The target is a first target arranged in a first region (AR1) for detecting the position of the target with respect to the vehicle, and a second region for detecting the posture / position of the detector (the target). An attitude / position detection system for the detector, including a second target located in AR2).
前記車両に対する前記ターゲットの位置を相対的に変更させるための変更機構（１２）を備え、
前記姿勢・位置検出装置は、前記変更機構を制御して、前記車両を前記第１のターゲットに対向させた後、前記車両を前記第２のターゲットに対向させる、検出器の姿勢・位置検出システム。 The attitude / position detection system for the detector according to claim 10 further comprises.
A change mechanism (12) for changing the position of the target relative to the vehicle is provided.
The posture / position detection device controls the change mechanism to make the vehicle face the first target, and then make the vehicle face the second target. The posture / position detection system of the detector. ..
前記検出器の姿勢・位置検出に用いられる複数のターゲット（ＴＧ）のうち、少なくとも１つのターゲットに対する前記車両の位置を検出し、前記ターゲットは、前記車両に対する前記ターゲットの位置を検出するための第１の領域（ＡＲ１）に配置されている第１のターゲット、前記検出器の姿勢・位置を検出するための第２の領域（ＡＲ２）に配置されている第２のターゲットを含み、
検出された前記位置情報を用いて、前記検出器の姿勢・位置を検出する、検出器の姿勢・位置検出方法。 It is a posture / position detection method of the detector (30) mounted on the vehicle (50).
Among a plurality of targets (TGs) used for detecting the posture / position of the detector, the position of the vehicle with respect to at least one target is detected, and the target detects the position of the target with respect to the vehicle. The first target arranged in the area 1 (AR1) and the second target arranged in the second area (AR2) for detecting the posture / position of the detector are included.
A method for detecting the posture / position of a detector, which detects the posture / position of the detector using the detected position information.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
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| JP2020002523A JP7384043B2 (en) | 2020-01-10 | 2020-01-10 | Detector attitude/position detection system and detector attitude/position detection method |
| CN202080092342.4A CN114945839A (en) | 2020-01-10 | 2020-12-17 | Posture/position detection system for detector and posture/position detection method for detector |
| PCT/JP2020/047165 WO2021140863A1 (en) | 2020-01-10 | 2020-12-17 | Orientation/position detection system for detector, and orientation/position detection method for detector |
| US17/811,453 US20220342055A1 (en) | 2020-01-10 | 2022-07-08 | Attitude/position detection system and method for detecting attitude/position of detector |
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| JP2020002523A JP7384043B2 (en) | 2020-01-10 | 2020-01-10 | Detector attitude/position detection system and detector attitude/position detection method |
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| JP2021110630A JP2021110630A (en) | 2021-08-02 |
| JP2021110630A5 true JP2021110630A5 (en) | 2021-11-25 |
| JP7384043B2 JP7384043B2 (en) | 2023-11-21 |
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| JP2005331353A (en) * | 2004-05-19 | 2005-12-02 | Mazda Motor Corp | Positioning system and positioning method |
| JP2010185757A (en) | 2009-02-12 | 2010-08-26 | Toyota Motor Corp | Axis adjuster and method |
| JP5585951B2 (en) | 2009-12-02 | 2014-09-10 | 学校法人東京電機大学 | In-vehicle radar inspection device and method |
| KR101510336B1 (en) | 2013-11-14 | 2015-04-07 | 현대자동차 주식회사 | Device for inspecting driver assistance system of vehicle |
| KR102157993B1 (en) * | 2013-11-28 | 2020-09-21 | 현대모비스 주식회사 | Method and system for alignment radar of vehicle |
| US9933515B2 (en) | 2014-12-09 | 2018-04-03 | Toyota Motor Engineering & Manufacturing North America, Inc. | Sensor calibration for autonomous vehicles |
| JP6557896B2 (en) | 2015-06-24 | 2019-08-14 | パナソニック株式会社 | Radar axis deviation amount calculation device and radar axis deviation amount calculation method |
| US9952317B2 (en) | 2016-05-27 | 2018-04-24 | Uber Technologies, Inc. | Vehicle sensor calibration system |
| KR102395276B1 (en) | 2016-09-13 | 2022-05-09 | 현대자동차주식회사 | Apparatus for inspecting driver assistance system of vehicle and method for controlling the same |
| US10509120B2 (en) | 2017-02-16 | 2019-12-17 | GM Global Technology Operations LLC | Lidar-radar relative pose calibration |
| US11435456B2 (en) | 2017-12-28 | 2022-09-06 | Lyft, Inc. | Sensor calibration facility |
| CN112352146B (en) | 2018-04-30 | 2023-12-01 | Bpg销售和技术投资有限责任公司 | Vehicle alignment for sensor calibration |
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